JP7412664B1 - Numerical control device and numerical control method - Google Patents

Abstract

A numerical control device (1) controls a machine tool (70), other machine tools (72 to 74), and a robot (60). The numerical control device (1) measures the stop position (349) of the robot (60) and the coordinate system offset (346) on the machine tool (70) and other machine tools (72 to 74) during work. a coordinate system offset measurement processing unit (80) that measures the coordinate system offset (346) of the machine tool (70) and other machine tools (72 to 74) using the measurement start coordinate (348), which is the starting position; A coordinate system offset table (344) that associates the measured coordinate system offset (346) with the machine tool (70) and other machine tools (72 to 74) together with the stop position (349) and the measurement start coordinate (348); A coordinate system offset reflection processing unit (81) is provided that controls the robot (60) by reflecting the coordinate system offset (346) when executing the program.

Description

The present disclosure relates to a numerical control device and a numerical control method for controlling a machine tool and a robot.

Generally, in a system in which a machine tool and a robot operate cooperatively, the machine tool and the robot have separate controllers, use different programming languages for control, and have different coordinate systems for the machine tool and the robot. In a system equipped with machine tools and robots, if the program for controlling the machine tool and the program for controlling the robot are created separately, it will be difficult to understand the linked operations between the machine tool and robot from these programs, and the system There were cases where the work load during startup became large. Therefore, techniques have been proposed for controlling both machine tools and robots using programming languages for machine tools.

Patent Document 1 discloses a numerical control device that controls a robot by transmitting a program language for machine tools to a robot controller. The difference between the coordinate system of the machine tool and the coordinate system of the robot is controlled by measuring the relative relationship and taking this difference into account.

Patent No. 6647472

There are cases where a plurality of machine tools are installed in a factory, and one robot carries in and out the plurality of machine tools. When one machine tool controls a robot using the technology of Patent Document 1, the one machine tool measures, maintains, and applies the relative relationship of the coordinate systems between the robot and multiple machine tools. There is a need. Measurement and application generally require control using, for example, a machining program, but since the operator has to consider each machining process, the burden of creating a machining program has increased.

The present disclosure has been made in view of the above, and aims to provide a numerical control device that can reduce the burden on a worker in creating a machining program for controlling multiple machine tools and robots. do.

In order to solve the above-mentioned problems and achieve the objectives, a numerical control device in the present disclosure controls a plurality of machine tools and a robot that performs work on the plurality of machine tools. The numerical control device measures the stopping position of the robot on each machine tool when performing work, and the position at which it starts measuring the coordinate system offset that indicates the relationship between the coordinate system of each machine tool and the coordinate system of the robot. a measurement processing unit that measures the coordinate system offset of each machine tool using the start position; an association unit that associates the coordinate system offset measured by the measurement processing unit with each machine tool together with a stop position and a measurement start position; The robot includes a reflection processing unit that controls the robot by reflecting the associated coordinate system offset when executing the program.

According to the numerical control device of the present disclosure, it is possible to reduce the burden on the worker regarding creating a machining program for controlling a plurality of machine tools and robots.

A diagram showing a configuration example of a control system including a numerical control device according to Embodiment 1. A diagram showing a configuration example of a numerical control device according to Embodiment 1. A diagram showing an example of measuring a coordinate system offset using a touch probe in the numerical control device according to the first embodiment. A diagram showing an example of a coordinate system offset table stored by the numerical control device according to the first embodiment. A diagram showing an example of a machining program executed by the numerical control device according to the first embodiment A diagram illustrating an example of a tool exchange method for a robot according to Embodiment 1. Flowchart showing the operation procedure of the coordinate system offset measurement processing section of the numerical control device according to the first embodiment Flowchart showing the operation procedure of the coordinate system offset reflection processing section of the numerical control device according to the first embodiment A diagram showing a configuration example of a control system including a numerical control device according to a second embodiment. A diagram showing a configuration example of a numerical control device according to a second embodiment A diagram showing an example of a machining program executed by the numerical control device according to the second embodiment Flowchart showing the operation procedure of the coordinate system offset reflection processing section of the numerical control device according to the second embodiment A block diagram showing a configuration example of a control calculation unit of the numerical control device according to Embodiments 1 and 2.

Hereinafter, a numerical control device and a numerical control method according to an embodiment will be described in detail based on the drawings.

Embodiment 1.
FIG. 1 is a diagram showing a configuration example of a control system 100 including a numerical control device 1 according to the first embodiment. The numerical control device 1 according to the first embodiment creates a machining program for controlling the machine tool 70, the robot 60, and the traveling axis 62, and controls other machine tools 72, 73, and 74. In Embodiment 1, an example will be described in which a numerical control device 1 that controls a machine tool 70, a robot 60, and a traveling axis 62 is equipped with a function of measuring and applying a coordinate system.

The control system 100 is a system that controls the machine tool 70, the robot 60, and the travel axis 62 using a numerical control (NC) program that is a machining program. The control system 100 includes a machine tool 70, a numerical control device 1, a robot controller 50, a robot 60, a traveling axis 62, and other machine tools 72-74. The numerical control device 1 includes a CNC (Computer Numerical Control) unit 6 and an input operation section 3. In the first embodiment, the form of the machine tool 70 mainly intended for metal processing will be described, but the form of the machine tool 70 is not limited to this.

The CNC unit 6 is connected to a machine tool 70, an input operation section 3, and a robot controller 50. Robot controller 50 is connected to robot 60. The CNC unit 6 and the robot controller 50 are connected via a network such as a LAN (Local Area Network), for example.

The input operation section 3 includes an input/output unit 51, an emergency stop button 52, and an operation panel 53. The operation panel 53 receives an operation from an operator and sends a signal corresponding to the operation to the input/output unit 51. When the emergency stop button 52 is pressed by an operator, it sends a signal to the robot controller 50 to stop the robot controller 50, and also sends a signal to the input/output unit 51 to stop the machine tool 70. The input/output unit 51 sends a signal sent from the operation panel 53 and a signal sent from the emergency stop button 52 to the CNC unit 6. Upon receiving the signal from the emergency stop button 52, the robot controller 50 causes the robot 60 to come to an emergency stop. When the CNC unit 6 receives a signal to stop the machine tool 70 from the input/output unit 51, it brings the machine tool 70 to an emergency stop.

In the control system 100, communication is executed between the machine tool 70, the numerical control device 1, and the robot controller 50, and communication is executed between the robot controller 50, the robot 60, and the traveling axis 62. In this manner, in the control system 100, the numerical control device 1, the robot 60, and the traveling axis 62 are connected via the robot controller 50. The numerical control device 1 controls the robot 60 and the traveling axis 62 via the robot controller 50. Hereinafter, when explaining the control of the robot 60 by the numerical control device 1, the description of the control via the robot controller 50 may be omitted.

The CNC unit 6 is also connected to other machine tools 72-74. The CNC unit 6 and other machine tools 72 to 74 are connected by an industrial network including, for example, a LAN.

In the control system 100, communication is executed between the numerical control device 1 and the other machine tools 72 to 74, and the numerical control device 1 controls the other machine tools 72 to 74. The numerical control device 1 may also control the operation of other machine tools 72 to 74, such as starting machining.

The numerical control device 1 is placed in a machine tool 70. The numerical control device 1 is a computer that causes a machine tool 70 to process a workpiece using a tool, and causes a robot 60 to transport the workpiece. Further, the numerical control device 1 executes transportation of the robot 60 by the traveling axis 62, and executes operation control of other machine tools 72 to 74, such as starting machining.

The NC program includes a first command, which is a command to the machine tool 70, written in a first programming language, and a second command, which is a command to the robot 60 and the traveling axis 62, written in the first programming language. Contains directives. The numerical control device 1 converts the second command of the NC program into a third command that is a command of a robot program written in a second programming language, and uses the third command to control the robot 60 and The traveling axis 62 is controlled.

The input operation section 3 is a means for inputting information to the control calculation section 2 of the CNC unit 6. The control calculation section 2 will be described later. The input operation unit 3 includes input means such as a keyboard, a touch panel, buttons, or a mouse. FIG. 1 shows a keyboard and a touch panel as examples of input means. The touch panel is, for example, a liquid crystal touch panel.

The numerical control device 1 sends a robot program including the third command to the robot controller 50. The robot controller 50 controls the robot 60 and the traveling axis 62 according to the robot program sent from the numerical control device 1.

The robot 60 grips a workpiece with a robot hand 61 and transports the gripped workpiece. The robot 60 loads the workpiece before processing onto the machine tool 70 and unloads the workpiece after processing from the machine tool 70 . Note that the robot 60 may perform processing other than transporting the workpiece.

The traveling axis 62 moves the robot 60. By moving the robot 60 in front of the other machine tools 72 to 74 using the travel axis 62, the robot 60 transfers, loads, and unloads workpieces to the other machine tools 72 to 74.

The CNC unit 6 includes a control calculation section 2, which will be described later, and a display section 4, which will be described later. CNC unit 6 controls machine tool 70, robot 60, and traveling axis 62 using an NC program. Further, upon receiving a signal from the input operation section 3, the CNC unit 6 causes the machine tool 70 to execute a process corresponding to the received signal. Further, the CNC unit 6 displays information indicating the status of the machine tool 70, information indicating the status of the robot 60, information indicating the status of the traveling axis 62, etc. on the display unit 4.

Machine tool 70 and other machine tools 72 to 74 are NC machine tools. An NC machine tool processes a workpiece using a tool while relatively moving the tool and the workpiece using two or more drive axes. The first coordinate system, which is the coordinate system of the NC machine tool, and the second coordinate system, which is the coordinate system of the robot 60, are mutually different coordinate systems. The machine tool 70, other machine tools 72 to 74, and the robot 60 are controlled by a Cartesian coordinate system, and move a tool, a workpiece, or a robot hand 61 in, for example, three axes. The robot 60 is equipped with a rotation axis, and can move the robot hand 61 in a linear direction by rotating joints, which are a plurality of rotation axes, in response to commands in an orthogonal coordinate system.

FIG. 2 is a diagram showing a configuration example of the numerical control device 1 according to the first embodiment. The numerical control device 1 includes a control calculation section 2, an input operation section 3, a display section 4, and a PLC operation section 5 such as a mechanical operation panel for operating a PLC (Programmable Logic Controller) 36. have FIG. 2 shows a machine tool 70, a robot controller 50, a robot 60, a traveling axis 62, and other machine tools 72 to 74 along with the numerical control device 1.

Machine tool 70 and other machine tools 72 to 74 include a drive section 90 that drives tools and workpieces. An example of the drive unit 90 is a drive mechanism that drives a tool while rotating a workpiece. In the first embodiment, the tool is driven in two directions, for example, a direction parallel to the X-axis direction and a direction parallel to the Z-axis direction. Note that since the axial direction depends on the device configuration, the axial direction is not limited to the above direction.

The drive unit 90 includes servo motors 901 and 902 that move the tool in each axis direction defined on the numerical control device 1, and detectors 97 and 98 that detect the positions and speeds of the servo motors 901 and 902. Detector 97 outputs a signal indicating the detection result of the position and speed of servo motor 901. Detector 98 outputs a signal indicating the detection result of the position and speed of servo motor 902. The drive unit 90 includes servo control units 91 and 92 for each axis direction that control servo motors 901 and 902 based on commands from the numerical control device 1. Servo control units 91 and 92 perform feedback control of servo motors 901 and 902 based on signals from detectors 97 and 98.

The servo control unit 91 controls the movement of the tool in the X-axis direction by controlling the servo motor 901. The servo control unit 92 controls the movement of the tool in the Z-axis direction by controlling the servo motor 902.

The drive unit 90 also includes a spindle motor 911 that rotates a spindle for rotating a workpiece, and a detector 99 that detects the position and rotation speed of the spindle motor 911. The number of rotations is the number of rotations per unit time. The rotation speed detected by the detector 99 corresponds to the rotation speed of the main shaft motor 911. The spindle control unit 190 controls the rotation of the spindle by controlling the spindle motor 911.

As described above, the input operation unit 3 includes input means for inputting information to the control calculation unit 2. The input operation unit 3 receives commands and the like to the numerical control device 1 from an operator. Further, the input operation section 3 accepts an NC program or parameters. The display section 4 is constituted by a display means such as a liquid crystal display device, and displays information processed by the control calculation section 2 on a screen. An example of the display unit 4 is a liquid crystal touch panel. In this case, some functions of the input operation section 3 are arranged on the display section 4.

The control calculation unit 2, which is a control unit, controls the machine tool 70, the robot 60, and the traveling axis 62 using an NC program defined in the coordinate system of the machine tool 70. The control calculation section 2 includes a screen processing section 31, an input control section 32, a storage section 34, a control signal processing section 35, a PLC 36, an analysis processing section 37, an interpolation processing section 38, and a measurement processing section. It includes a coordinate system offset measurement processing section 80, a coordinate system offset reflection processing section 81 as a reflection processing section, an external communication section 40, and a robot control section 41. Note that the PLC 36 may be placed outside the control calculation section 2.

The storage unit 34 is a device that stores data, such as a nonvolatile memory or a hard disk. The storage unit 34 stores an NC program storage area 341 in which NC programs are stored, a machine tool command code list 342, and a robot command code list 343. The storage unit 34 includes a coordinate system offset table 344, a measurement macro 350, and a shared area 345, which will be described later.

The NC program storage area 341 stores a program for processing by the machine tool 70 and a program for controlling the robot 60 and the traveling axis 62.

The machine tool command code list 342 is a list of codes used for commands to the machine tool 70. The robot command code list 343 is a list of codes used for commands to the robot 60.

The input control unit 32 receives information input from the input operation unit 3 and stores, for example, a machining program or the like in the NC program storage area 341 of the storage unit 34.

The screen processing section 31 performs control to display, for example, a machining program in the NC program storage area 341 on the display section 4. In addition, the screen processing unit 31 executes display processing for use in the user interface, such as information on the axis position of the machine tool 70, setting information on the machine tool 70, and graphic display related to machining.

The control signal processing section 35 is connected to the PLC 36. The PLC 36 outputs signal information such as a relay for operating the machine tool 70 to the control signal processing unit 35. The control signal processing unit 35 receives signal information from the PLC 36 and writes the received signal information into the shared area 345. The interpolation processing unit 38 refers to signal information from the PLC 36 during machining operation. Furthermore, when the analysis processing unit 37 outputs an auxiliary command to the shared area 345, the control signal processing unit 35 reads this auxiliary command from the shared area 345 and sends it to the PLC 36. The auxiliary command is a command other than a command for operating a drive axis, which is a numerically controlled axis. Examples of auxiliary commands are M codes or T codes.

The external communication unit 40 is, for example, a communication part of an industrial network. The external communication unit 40 sends a command to the other machine tools 72 to 74 via the industrial network when there is an instruction to start the other machine tools 72 to 74 as an auxiliary command.

The control calculation unit 2 includes a control signal processing unit 35, an analysis processing unit 37, an interpolation processing unit 38, a robot control unit 41, a coordinate system offset measurement processing unit 80, a coordinate system offset reflection processing unit 81, are connected via the storage unit 34, and write and read information via a shared area 345 of the storage unit 34. Information between the control signal processing section 35, the analysis processing section 37, the interpolation processing section 38, the robot control section 41, the coordinate system offset measurement processing section 80, and the coordinate system offset reflection processing section 81 will be described below. When describing writing and reading, there may be cases where the description of passing through the storage unit 34 is omitted.

The analysis processing unit 37 reads the NC program from the NC program storage area 341 and performs analysis processing on each block of the NC program, that is, each line of the NC program. If the analyzed line includes a G code for the machine tool 70, the analysis processing unit 37 sends the analysis result to the interpolation processing unit 38 via the shared area 345. Specifically, the analysis processing section 37 generates a movement condition corresponding to the G code and sends it to the interpolation processing section 38. Furthermore, the analysis processing section 37 sends the spindle rotation speed specified by the S code to the interpolation processing section 38. The spindle rotation speed is the number of rotations of the spindle per unit time.

The analysis processing section 37 includes a robot command analysis section 371. The robot command analysis unit 371 is a means for analyzing the operation of the connected robot 60 and traveling axis 62. The robot command analysis unit 371 analyzes robot commands and travel axis commands included in the NC program, and sends the analysis results to the robot control unit 41.

The robot control unit 41 transmits commands to the robot 60 and commands to the traveling axis 62 to the robot controller 50.

The robot control section 41 includes a program conversion section 414. The program conversion unit 414 uses the coordinate system offset 346 stored in the coordinate system offset table 344 of the storage unit 34 to define the second command defined in the coordinate system of the machine tool 70 in the coordinate system of the robot 60. By converting the coordinates into the third command, a robot program used to control the robot 60 is generated. The coordinate system offset 346 is a coordinate value indicating the relationship between the coordinate system of the machine tool 70 and the coordinate system of the robot.

The robot 60 is used not only to carry workpieces into and out of the machine tool 70, but also to carry workpieces into and out of other machine tools 72 to 74. Therefore, the number of coordinate system offsets 346 for each machine tool is stored in the coordinate system offset table 344 of the storage unit 34.

FIG. 3 is a diagram showing an example of measuring a coordinate system offset using a touch probe in the numerical control device 1 according to the first embodiment. As shown in FIG. 3, the coordinate system offset 346 is measured using a sensor such as a touch probe 65 attached to the robot hand 61 of the robot 60. The coordinate system offset 346 can be measured using the touch probe 65 by attaching the touch probe 65 to the tip of the robot hand 61 and transmitting a movement command for the robot hand 61 from the numerical control device 1 to the robot controller 50. The touch probe 65 is pressed against the table 71 or the like. When pressed, the detection signal of the touch probe 65 is input to the numerical control device 1, and the coordinate values in the numerical control device 1 at that time are acquired. By measuring the coordinate values P1, P2, and P3 of the three points, the coordinate origin of the table of the machine tool is calculated, and the coordinate system offset 346 is calculated. When acquiring coordinate values, at least three points are measured, and when taking the inclination into consideration, nine points are measured.

Next, a method of measuring the coordinate system offset 346 for a plurality of machine tools will be explained. Measurement of this coordinate system offset 346 is performed once when starting up a factory line. In the first embodiment, coordinate system offset 346 is measured for machine tool 70 and other machine tools 72 to 74.

In order to measure a plurality of coordinate system offsets 346 for the machine tool 70 that is a plurality of machine tools to be controlled and other machine tools 72 to 74, the control calculation section 2 of the numerical control device 1 uses a coordinate system offset measurement processing section 80. and a measurement macro 350, and has a measurement start coordinate 348, which is a measurement start position, and a stop position 349 in the storage unit 34 as a coordinate system offset table 344.

The stop position 349 is the stop position of the robot 60 on the traveling axis 62 when carrying in and out of the machine tool 70 and other machine tools 72 to 74 a workpiece. Stop positions 349 are stored in the storage unit 34 for the number of machine tools. The stop position 349 is determined by the positions of the machine tool 70 and other machine tools 72 to 74 on the traveling axis 62, so when determining the arrangement of the machine tool 70 and other machine tools 72 to 74 on the factory line, the line design Set by the person.

FIG. 4 is a diagram showing an example of the coordinate system offset table 344 stored by the numerical control device 1 according to the first embodiment. In FIG. 4, the machine number "1" corresponds to the machine tool 70, the machine number "2" corresponds to another machine tool 72, the machine number "3" corresponds to another machine tool 73, and the machine number "4" corresponds to another machine tool 74. The stored contents of the coordinate system offset table 344 include a stop position 349, a measurement start coordinate 348, and a coordinate system offset 346. The coordinate system offset table 344 stores a machine number, a stop position 349, a measurement start coordinate 348, and a coordinate system offset 346 in association with each other. The coordinate system offset table 344 functions as an association unit that associates the coordinate system offset 346 with the stop position 349 and measurement start coordinates 348 with the machine tool 70 and other machine tools 72 to 74. The stop positions 349 are, for example, 0 for the machine tool 70, 500 for the other machine tool 72, 1000 for the other machine tool 73, and 1500 for the other machine tool 74. The unit depends on the setting of the numerical control device 1.

The measurement start coordinates 348 are the starting points for starting the measurement macro 350, and must be set so that the touch probe 65 of the robot hand 61 can start from near the table of each machine tool. The measurement start coordinates 348 are determined from the relationship between the position of the robot 60 and the table positions of the machine tool 70 and other machine tools 72 to 74. However, since the table positions differ depending on the machine tool 70 and other machine tools 72 to 74, It is necessary to set values for each machine 70 and other machine tools 72 to 74. The setting method is, for example, when the arrangement of the machine tool 70 and other machine tools 72 to 74 on a factory line is determined by simulation, and the settings are made based on the simulation results. Alternatively, when the robot 60 is actually installed, it may be possible to manually move the robot 60 using a handle, for example, to move the robot hand 61 to a position above the table, and to store its coordinate values. As shown in FIG. 4, the measurement start coordinates 348 are, for example, (X, Y, Z) = (500, 500, 500) for the machine tool 70 with machine number "1", and In the case of another machine tool 72, (X, Y, Z) = (510, 520, 515). Measurement start coordinates 348 are also stored in association with machine number and stop position 349.

The measurement macro 350 is a program that operates the touch probe 65 attached to the robot 60 described above. By executing the measurement macro 350, the robot 60 performs an operation to measure the coordinate system offset 346.

The coordinate system offset measurement processing section 80 controls the operation of measuring the coordinate system offset 346. For example, after the operator replaces the tool of the robot hand 61 with the touch probe 65, the coordinate system offset measurement processing section 80 displays a machine number corresponding to one machine tool or "ALL" that specifies all machine tools on the display section 4. ” and then press the measurement start button displayed on the display unit 4 to execute the measurement. When the measurement start button is pressed after inputting the machine number "1" corresponding to one machine tool, the coordinate system offset 346 of the machine tool 70 corresponding to the machine number "1" is measured. If you press the measurement start button after inputting "ALL" to specify all machine tools, the coordinate system offset 346 of machine tool 70 corresponding to machine number "1" to other machine tools 74 corresponding to machine number "4" will be displayed. Measured sequentially.

For example, the coordinate system offset 346 of the machine tool 70 with machine number "1" is measured as follows. When the measurement start button is pressed after inputting the input information "1", the screen processing section 31 stores "1" as the input information in the shared area 345 of the storage section 34. The analysis processing unit 37 reads data including the stop position 349 and measurement start coordinates 348 of the machine number "1" corresponding to the input information "1" stored in the shared area 345 from the coordinate system offset table 344, and stores the data in the shared area 345. 345, and notifies the coordinate system offset measurement processing unit 80 of the data storage address in the shared area 345 and control start instruction. When instructed to start control by the analysis processing unit 37, the coordinate system offset measurement processing unit 80 outputs a screen display to the display unit 4 to confirm whether or not the touch probe 65 has been replaced, and confirms that the replacement has been completed. In this case, the stop position 349 and measurement start coordinates 348 of the machine number “1” are acquired from the shared area 345.

The coordinate system offset measurement processing unit 80 sends a command to the traveling axis 62 to the robot controller 50 to move the robot 60 to the “0” position, which is the stop position 349 of the machine tool 70 corresponding to the machine number “1”. , the traveling shaft 62 is operated. The coordinate system offset measurement processing section 80 transmits a command to the robot controller 50 to move the robot hand 61 to the measurement start coordinate 348 of the machine tool 70 corresponding to machine number "1", and causes the robot 60 to operate. Next, the coordinate system offset measurement processing section 80 uses the measurement macro 350 to measure the coordinate system offset value of the machine tool 70 corresponding to machine number "1". The coordinate system offset measurement processing unit 80 stores the measured coordinate system offset value of the machine tool 70 corresponding to the machine number “1” in the coordinate system offset 346 of the machine number “1” in the coordinate system offset table 344 of the storage unit 34. do. During this storage, the measured coordinate system offset 346 is stored in association with the stop position 349. The coordinate system offset values of other machine tools 72 to 74 corresponding to machine numbers "2" to "4" are found in the same manner. Then, the measured coordinate system offset values of the other machine tools 72 to 74 are stored in association with the stop positions 349 of the other machine tools 72 to 74.

Next, a method of automatically controlling the robot 60 in consideration of the relative relationship after moving the robot 60 using the travel axis 62 when there is a movement command to move the robot 60 in front of a specific machine tool will be explained. do.

FIG. 5 is a diagram showing an example of a machining program executed by the numerical control device 1 according to the first embodiment. FIG. 5 shows an example of a machining program including a G code, which is a command to the machine tool 70 or the robot 60. The G code command in the line of block N2 of the machining program is a command that reflects the movement and offset of the robot 60.

The analysis processing unit 37 analyzes G1500 of block N2 and determines from the robot command code list 343 that the robot command is a robot movement and coordinate system offset reflection command, and the coordinate system offset reflection processing unit 81 starts processing. The coordinate system offset reflection processing unit 81 analyzes the address following the G code and sends a command to the robot controller 50. The X address means the movement of the running axis 62, X500 means the stop position of the running axis 62 after movement, RF300 means the moving speed of the running axis 62, and Q0 means the coordinate system offset 346 after movement. This means that there is no measurement of . The analysis processing unit 37 analyzes this command, operates the traveling axis 62, and moves the robot 60 to the position "500" at a speed of "300". If there is a Q0 command, the coordinate system offset 346 is not remeasured. Therefore, the commands to the robot 60 from block N3 onwards automatically set the coordinate system offsets 346 of X30, Y17, and Z100 associated with the stop position "500" in the coordinate system offset table 344 shown in FIG. The control calculation unit 2 issues a command to the robot controller 50 to reflect the offset of the robot 60 and operate the robot 60 . This operation is called coordinate system offset reflection processing.

If the value of X of the X address does not exist as data in the stop position 349 of the coordinate system offset table 344, the above-mentioned coordinate system offset reflection process is not performed because the command is directed to a position where there is no machine tool. In that case, the coordinate system offset reflection processing unit 81 may output an error. Alternatively, the coordinate system offset reflection processing unit 81 may move to the commanded stop position, but may not reflect the coordinate system offset 346.

Reflection of the coordinate system offset 346 is a modal function, and unless there is a G code that reflects or cancels the next coordinate system offset 346, the coordinate system offset 346 is considered as a command to the next robot 60. A command is sent to robot controller 50. For example, as a command to the robot 60 in block N3, the operator may create a program that specifies the movement position of the robot hand 61 in the coordinate system of the machine tool. That is, from block N2 onward, the operator who creates the machining program does not need to create a program that takes into account the difference between the coordinate system of the machine tool and the coordinate system of the robot.

Next, when there is a movement command for the robot 60 to move forward of a specific machine tool, after the robot 60 is moved by the travel axis 62, the coordinate system offset 346 is remeasured and the relative relationship is automatically established. A method of controlling with consideration to the following will be explained. As a result, even if the coordinate system offset 346 has changed due to a physical deviation of the lane of the traveling axis 62, by remeasuring the coordinate system offset 346 before the robot 60 performs the work, the robot work on the machine tool can be improved. This can be achieved with high precision.

The M code of block N4 is an auxiliary command, which is a command to replace the tip of the robot hand 61 with the touch probe 65. FIG. 6 is a diagram illustrating an example of a tool exchange method of the robot 60 according to the first embodiment. Replacement with the touch probe 65 may be carried out in a case where a processing tool 64 and a touch probe 65 disposed on the opposite side are attached to the tip of the robot hand 61, as shown in FIG. 6, for example. In such a case, for example, the tool can be replaced with the touch probe 65 by rotating the rotary shaft at the end of the robot hand 61 by 180 degrees using an M code auxiliary command.

The method of replacing the touch probe 65 is not limited to this. For example, an autochanger is provided on a table that moves on the traveling axis physically simultaneously with the robot hand 61, and the robot hand 61 is moved to the replacement position of the autochanger for replacement. It is also possible to do so.

As mentioned above, G1500 of block N5 means the movement of the running axis 62, X1000 means the stop position 349 after the movement of the running axis 62, RF600 means the moving speed of the running axis 62, and Q1 means the movement speed of the running axis 62. This means that there is a measurement of the coordinate system offset 346 after the movement. The analysis processing unit 37 analyzes this command, drives the traveling axis 62, and moves the robot 60 to the position "1000" at a speed of "600". If there is a command Q1, the coordinate system offset measurement processing unit 80 performs processing to remeasure the coordinate system offset 346 using the method for measuring the coordinate system offset 346 described above. . The remeasured coordinate system offset 346 is reflected in the coordinate system offset table 344. The command to the robot 60 to move to block N6 is the coordinate system offset 346 associated with the stop position "1000", and the command to automatically reflect the re-measured coordinate system offset 346 as the offset of the robot 60 for operation. A coordinate system offset reflection process is executed in which the control calculation unit 2 instructs the robot controller 50 to reflect the coordinate system offset.

In this way, by using the re-measured coordinate system offset 346, it is possible to perform robot work on a machine tool with high precision.

Next, the processing of the coordinate system offset measurement processing section 80 for realizing the above-mentioned functions will be explained. FIG. 7 is a flowchart showing the operation procedure of the coordinate system offset measurement processing section 80 of the numerical control device 1 according to the first embodiment.

In step S500, a message is displayed on the display unit 4 asking the operator to confirm whether or not the tip of the robot hand 61 has been replaced with the touch probe 65. If it has not been replaced (step S500: No), an error is output (step S511) and the process is ended. If it has been replaced (step S500: Yes), the machine number of the measurement target input by the operator is acquired from the common area 345 in step S501. In step S503, a movement command to the traveling axis 62 for moving the robot 60 to the stop position 349 associated with the machine number is transmitted to the robot controller 50, and thereby the robot 60 moves to the stop position 349. Next, in step S504, a movement command for moving the robot hand 61 to the measurement start coordinates 348 associated with the machine number is transmitted to the robot controller 50, thereby moving the robot hand 61 to the measurement start coordinates 348.

Next, in step S505, a macro program for measuring the coordinate system offset 346 is executed. Next, in step S506, the measured coordinate system offset 346 is stored in the coordinate system offset table 344 in association with the machine number and the stop position 349. While there is a machine tool to be measured, the processes from step S503 to step S506 are repeatedly executed (step S507). Finally, in step S508, a message to return the touch probe 65 to the original tool is displayed on the display unit 4, and the process ends.

Next, the processing of the coordinate system offset reflection processing section 81 will be explained. FIG. 8 is a flowchart showing the operation procedure of the coordinate system offset reflection processing unit 81 of the numerical control device 1 according to the first embodiment.

In step S600, the X address following the G code in the machining program is analyzed and the address value is temporarily stored in memory. In step S601, it is determined whether the address value stored in the temporary memory exists as data at the stop position 349 of the coordinate system offset table 344. If the X address is not at the stop position 349 (step S601: No), an error is output in step S610, and the process ends. If the X address is at the stop position (step S601: Yes), the RF address is analyzed in step S602, and the analyzed value is temporarily stored in memory. In step S603, a command is sent to the robot controller 50 to move the traveling axis 62 at the stop position 349 and moving speed stored in the temporary memory.

Next, in step S604, the Q address is analyzed. If the Q address is 0 (step S604: No), the process ends. If the Q address is 1 (step S604: Yes), the robot 60 is moved to the measurement start coordinate 348 associated with the stop position 349 in step S605, the measurement macro 350 is executed in step S606, and the step In S607, the remeasured measurement value is stored in the coordinate system offset 346 of the coordinate system offset table 344.

As described above, according to the first embodiment, the numerical control device 1 adjusts the stop position 349, measurement start coordinates 348, and coordinate system offset 346 for the machine tool 70 and other machine tools 72 to 74 to the machine tool 70 and other machine tools 72 to 74. The machine tool 70 and other machine tools 72 to 74 are stored in the storage unit 34 in association with the machines 72 to 74, using the stop position 349 and measurement start coordinates 348 stored in the storage unit 34 by the coordinate system offset measurement processing unit 80. The coordinate system offset 346 is measured and stored in the storage unit 34, and when the coordinate system offset reflection processing unit 81 executes the machining program, the robot 60 is controlled by reflecting the coordinate system offset 346 stored in the storage unit 34. This makes it possible for an operator to easily create a machining program for controlling multiple machine tools and robots.

Embodiment 2.
In the second embodiment, a configuration is adopted in which a plurality of machine tools acquire control rights for one self-propelled robot 161. In the second embodiment, the machine tool that has acquired the control right moves the self-propelled robot 161 to the measurement start position of the machine tool that has acquired the control right, measures the coordinate system offset 346, and reflects the coordinate system offset 346. Carry out loading/unloading and processing with precision.

FIG. 9 is a diagram showing a configuration example of a control system including the numerical control device according to the second embodiment. The control system shown in FIG. 9 includes a plurality of machine tools 170, 172 to 174, a self-propelled robot 161, and a wireless LAN router 180. Machine tool 70 corresponds to a first machine tool, and machine tool 172 corresponds to a second machine tool. A numerical control device 1X shown in FIG. 10 is arranged in the machine tool 170, and the machine tool 170 is controlled by the numerical control device 1X. The machine tools 172 to 174 are each controlled by a plurality of other numerical control devices (not shown) different from the numerical control device 1X.

The self-propelled robot 161 includes a robot 60, a self-propelled device 63, and a robot controller 55. The self-propelled robot 161 is an automatic guided vehicle (AGV) in which the robot 60 and the robot controller 55 are self-propelled by a self-propelled device 63. The self-propelled robot 161 has a memory and a control device in the self-propelled device 63, and travels around a plurality of machine tools 170, 172 to 174 by self-propelling along a stored travel route. The robot controller 55 has a wireless LAN communication function and performs wireless communication with the machine tools 170, 172 to 174 via the wireless LAN router 180.

The machine tools 170, 172 to 174 can communicate with each other via a wireless LAN router 180. Further, the machine tools 170, 172 to 174 and the robot controller 55 can communicate with each other via the wireless LAN router 180. By transmitting commands from the machine tools 170, 172 to 174 to the robot controller 55 via wireless LAN and controlling the self-propelled robot 161, workpieces can be carried in and out of the machine tools 170, 172 to 174, or attached to the robot hand 61. Execute machining using a cutting tool.

Regarding the control right of the self-propelled robot 161, for example, the following method is adopted. Among the machine tools 170, 172 to 174, the machine tool 170, 172 to 174 has acquired approach information indicating that the self-propelled robot 161 has approached from the self-propelled device 63 of the self-propelled robot 161 through wireless LAN communication. , and the machine tools 170, 172 to 174 that are in a state where the self-propelled robot 161 can be used have control rights over the self-propelled robot 161. Approach information uses a distance sensor that can determine the distance to the measurement target. For example, the self-propelled robot 161 and the machine tools 170, 172-174 are provided with a device for short-range wireless communication (for example, Bluetooth), and the machine tools 170, 172-174 determine the approach of the self-propelled robot 161 and control the machine tools 170, 172-174. obtain rights.

The method of determining the right to control the self-propelled robot 161 is not limited to this. For example, apart from the self-propelled robot 161 and the machine tools 170, 172-174, a controller capable of communicating via wireless LAN is provided, and this controller determines the approach of the self-propelled robot 161 and the machine tools 170, 172-174, The controller may control the activation of the self-propelled robot 161 and the machine tools 170, 172 to 174 in accordance with the result of this determination.

FIG. 10 is a diagram showing a configuration example of a numerical control device 1X according to the second embodiment. In the numerical control device 1X of the second embodiment, a wireless communication section 401 is added to the numerical control device 1 of the first embodiment. Further, in the numerical control device 1X of the second embodiment, the coordinate system offset measurement processing section 80 of the numerical control device 1 of the first embodiment, the stop position 349, the measurement start coordinate 348, and the coordinate A coordinate system offset table 344 in which the system offset 346 is stored does not exist. Further, in the numerical control device 1X of the second embodiment, the stop position 349 of its own machine tool 70 is not stored in the storage unit 34. The other configurations are the same as those in Embodiment 1, and redundant explanation will be omitted.

The wireless communication unit 401 is a processing unit that realizes wireless LAN communication, and processes communication between the robot control unit 41 and the robot controller 55. Further, the external communication unit 40 performs industrial network communication via the wireless communication unit 401.

Further, in the second embodiment, each machine tool 170, 172-174 stores measurement start coordinates 348 and coordinate system offset 346 for its own machine tool 170, 172-174 in the storage unit 34. The measurement start coordinates 348 are stored, for example, as in the first embodiment, based on simulations during factory line design or based on manual operations.

Next, a method will be described in which the machine tool that has acquired control of the self-propelled robot 161 measures the coordinate system offset 346 and controls the self-propelled robot 161 by taking the measured coordinate system offset 346 into account.

The numerical control device of the machine tool to which the self-propelled robot 161 approaches acquires approach information via the wireless LAN communication function of the robot controller 55 of the self-propelled robot 161 and the wireless communication unit 401 . The numerical control device receives the approach information and stores the information in the shared area 345 of the storage unit 34.

In the machining program executed by each machine tool 170, 172 to 174, an instruction for waiting for robot control privilege is written by an operator, and the machining program including the instruction for waiting for robot control privilege is executed. FIG. 11 is a diagram showing an example of a machining program executed by the numerical control device 1X according to the second embodiment. G1501 of block N2 corresponds to an instruction to wait for robot control privilege. When the command to wait for robot control right is analyzed by the analysis processing section 37, the coordinate system offset reflection processing section 81 as a reflection processing section causes the machine tool to enter a state of waiting for robot control right.

When the coordinate system offset reflection processing unit 81 is able to acquire the approach information, which is the right to control the robot, from the common area 345, first, it transmits a command to the robot controller 55 to replace the tool of the robot hand 61 with the touch probe 65. As a result, the tool is replaced by the robot hand 61. Next, the coordinate system offset reflection processing unit 81 moves the self-propelled robot 161 to the measurement start coordinates 348 stored in the storage unit 34, and then measures the coordinate system offset 346 using the measurement macro 350, and then The system offset 346 is stored in the storage unit 34.

When the measurement of the coordinate system offset 346 is completed, the control right waiting state is released. Next, the robot command described in block N23 is executed, and the self-propelled robot 161 carries in and out, or the robot hand 61 carries out processing. In block N23, M23 is executed and the tool is replaced with a tool for gripping the workpiece, and in block N24, G1000 is executed to carry in the workpiece. During the workpiece loading operation in block N24, correction is performed using the coordinate system offset 346 stored in the storage unit 34, and the workpiece loading operation is executed.

In block N25, which is a block after the work program by the self-propelled robot 161, G1502, which is a control right release auxiliary command, is written. If a control right release auxiliary command exists, a command to release the control right is sent to the robot controller 55 via the control signal processing section 35, external communication section 40, and wireless communication section 401. When the robot controller 55 receives the command to release the control authority, it shifts the self-propelled robot 161 to a patrol operation and moves to the next machine tool.

FIG. 12 is a flowchart showing the operation procedure of the coordinate system offset reflection processing unit 81 of the numerical control device 1X according to the second embodiment. The processing of the coordinate system offset reflection processing section will be explained using FIG. 12.

In step S700, the coordinate system offset reflection processing unit 81 determines whether there is robot control authority. If there is no robot control right (step S700: No), the coordinate system offset reflection processing unit 81 enters a waiting state, and therefore, in step S700, the coordinate system offset reflection processing unit 81 again checks whether there is a robot control right. If there is robot control authority (step S700: Yes), the coordinate system offset reflection processing unit 81 transmits a command to replace the tool with the touch probe 65, which is a measuring tool, to the robot controller in step S702. When the replacement with the measurement tool is completed, the coordinate system offset reflection processing unit 81 moves the self-propelled robot 161 to the measurement start coordinate 348 in step S703, and executes the measurement macro 350 in step S704 to set the coordinate system offset 346. The coordinate system offset 346 is measured and stored in the storage unit 34 in step S705.

In this way, in the second embodiment, the numerical control device of the machine tool that has acquired robot control rights controls the self-propelled robot 161, measures the coordinate system offset, and then performs the loading/unloading work in which the coordinate system offset is reflected. Since this is executed, even if the self-propelled robot 161 does not have high precision in positioning with respect to the machine tool, it is possible to realize collaborative work between the machine tool 170 and the self-propelled robot 161 with higher precision.

Furthermore, in the second embodiment, the measurement start coordinates 348 are set in advance for each machine tool, but these are determined by the arrangement of the self-propelled robot 161 and the table. Therefore, if there are multiple machine tools of the same model, a common value for the measurement start coordinates 348 may be set. For example, when setting the measurement start coordinates 348 in a simulation, if it is determined that the machine tools are of the same model, the same value can be set as the measurement start coordinates 348, thereby saving the time and effort of setting.

Next, hardware that implements the control calculation section 2 according to the first and second embodiments will be explained. The control calculation section 2 is realized by a processing circuit. When the processing circuit is realized by software, the processing circuit is, for example, a control circuit shown in FIG. 13. FIG. 13 is a block diagram showing a configuration example of the control calculation section 2 of the numerical control device 1 or 1X according to the first or second embodiment. The control circuit 200 includes an input section 201, a processor 202, a memory 203, and an output section 204. The input unit 201 is an interface circuit that receives data input from outside the control circuit 200 and provides it to the processor 202. The output unit 204 is an interface circuit that sends data from the processor 202 or the memory 203 to the outside of the control circuit 200.

The control calculation section 2 is realized by software, firmware, or a combination of software and firmware. Software or firmware is written as a program and stored in memory 203. In the processing circuit, each function is realized by the processor 202 reading and executing a program stored in the memory 203. That is, the processing circuit includes a memory 203 for storing a program by which the processing of the control calculation unit 2 is executed. It can also be said that these programs cause the computer to execute the procedures and methods of the control calculation section 2.

The processor 202 is a CPU (Central Processing Unit, also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor)). The memory 203 is a nonvolatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). Alternatively, volatile semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), etc. are applicable.

The configurations shown in the embodiments described above are examples of the contents of the present disclosure, and can be combined with other known technologies, and the configurations can be modified without departing from the gist of the present disclosure. It is also possible to omit or change parts.

1, 1X numerical control device, 2 control calculation section, 3 input operation section, 4 display section, 5 PLC operation section, 6 CNC unit, 31 screen processing section, 32 input control section, 34 storage section, 35 control signal processing section, 36 PLC, 37 analysis processing section, 38 interpolation processing section, 40 external communication section, 41 robot control section, 50, 55 robot controller, 51 input/output unit, 52 emergency stop button, 53 operation panel, 60 robot, 61 robot hand, 62 traveling axis, 63 self-propelled device, 64 processing tool, 65 touch probe, 70,170 machine tool, 71 table, 72-74, 172-174 other machine tools, 80 coordinate system offset measurement processing section, 81 coordinate system offset Reflection processing unit, 90 Drive unit, 91, 92 Servo control unit, 97, 98, 99 Detector, 100 Control system, 161 Self-propelled robot, 180 Wireless LAN router, 190 Spindle control unit, 200 Control circuit, 201 Input unit, 202 Processor, 203 Memory, 204 Output section, 341 NC program storage area, 342 Machine tool command code list, 343 Robot command code list, 344 Coordinate system offset table, 345 Shared area, 346 Coordinate system offset, 348 Measurement start coordinates, 349 stop position, 350 measurement macro, 371 robot command analysis section, 401 wireless communication section, 414 program conversion section, 901, 902 servo motor, 911 main shaft motor.

Claims (8)

A numerical control device that controls a plurality of machine tools and a robot that performs work on the plurality of machine tools,
a stop position of the robot in each machine tool when performing the work, and a measurement start position that is a position at which a measurement operation of a coordinate system offset indicating the relationship between the coordinate system of each machine tool and the coordinate system of the robot is started; a measurement processing unit that measures the coordinate system offset of each machine tool using the
an association unit that associates the coordinate system offset measured by the measurement processing unit with each machine tool together with the stop position and the measurement start position;
a reflection processing unit that controls the robot by reflecting the associated coordinate system offset when executing a machining program;
A numerical control device comprising: The numerical control device according to claim 1, wherein the association unit has a coordinate system offset table that associates the stop position, the measurement start position, and the coordinate system offset with each machine tool. The measurement processing unit stores the coordinate system offset in association with the stop position in the coordinate system offset table,
The reflection processing unit reads the coordinate system offset associated with the stop position in the machining program from the coordinate system offset table, and controls the robot by reflecting the read coordinate system offset. The numerical control device according to claim 2. The machining program includes an instruction indicating whether or not to measure the coordinate system offset,
The numerical control according to any one of claims 1 to 3, wherein the measurement processing unit determines whether or not to re-measure the coordinate system offset of the machine tool depending on the content of the command. Device. A robot that patrols a plurality of machine tools including a first machine tool and a second machine tool and performs work on the plurality of machine tools, and a numerical control device that controls the first machine tool,
When executing a machining program for performing a machining operation with the first machine tool, it is determined whether the robot has control authority, and when the robot has control authority, the coordinates of the first machine tool are determined. The coordinate system offset of the first machine tool is measured using a measurement start position that is a position at which a measurement operation of a coordinate system offset that indicates the relationship between the system and the coordinate system of the robot is started, and the measured coordinate system offset a reflection processing unit that controls the robot by reflecting the
A numerical control device comprising: When the second machine tool is the same model as the first machine tool, the measurement start position has the same value as the measurement start position set for the second machine tool. The numerical control device according to claim 5. A numerical control method for controlling a plurality of machine tools and a robot that performs work on the plurality of machine tools, the method comprising:
a measurement start position that is a stop position of the robot in each machine tool when performing the work, and a position at which a measurement operation of a coordinate system offset indicating the relationship between the coordinate system of each machine tool and the coordinate system of the robot is started; a measuring step of measuring the coordinate system offset of each machine tool using
an associating step of associating the coordinate system offset measured in the measuring step with each machine tool together with the stop position and the measurement start position;
a reflection processing step of controlling the robot by reflecting the associated coordinate system offset when executing the machining program;
A numerical control method comprising: A robot that patrols a plurality of machine tools including a first machine tool and a second machine tool and performs work on the plurality of machine tools, and a numerical control method for controlling the first machine tool,
When executing a machining program for performing a machining operation with the first machine tool, it is determined whether the robot has control authority, and when the robot has control authority, the coordinates of the first machine tool are determined. The coordinate system offset of the first machine tool is measured using a measurement start position that is a position at which a measurement operation of a coordinate system offset that indicates the relationship between the system and the coordinate system of the robot is started, and the measured coordinate system offset controlling the robot to reflect the
A numerical control method comprising:

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